Method, device and system for calibrating positioning device

ABSTRACT

Embodiments of the present invention provide not only a technical solution for calibrating a positioning device but also a technical solution for characterizing an area of interest in a space. Specifically, there is provided a system, which may comprise: a tag capable of emitting ranging signals, placed at location points which are selected as space feature points in the space; a positioning device in said space, configured to obtain relative coordinates of said space feature points in relation to the positioning device based on the ranging signals from the tag; and a server, configured to determine location parameters of said positioning device in said space based on said relative coordinates, so as to calibrate said positioning device. The positioning device can be calibrated automatically, fast and accurately using the system.

FIELD OF THE INVENTION

The present invention relates to the field of positioning technologyand, more particularly, to a method, device, and system for calibratinga positioning device and to a method, device, and system forcharacterizing an area of interest in a space.

BACKGROUND OF THE INVENTION

Location information is a fundamental context to be utilized to extractthe geographical relationship between users and environments to furtherunderstand and learn the users' behaviors. The importance and promise oflocation-aware applications has led to the design and implementation ofsystems for providing location information. Currently, some highaccuracy indoor positioning systems (Ha-IPSs) are developed toaccurately track people and assets in real time, in many differentapplication scenarios including office, healthcare, coalmine, subway,smart building, restaurant, and other environments.

Currently, these Ha-IPSs are typically ultrasound based orultra-wideband-radio based. Their common character is to providepositioning accuracy of centimeter level. In some application scenariosof such Ha-IPSs, some positioning devices need be deployed andcalibrated in the relevant environment in order to monitor the locationsof moving objects in some Areas of Interest (AOI). Generally,positioning systems like Ha-IPSs can track the locations of these movingobjects in real time so as to provide certain location-based service.For instance, in an office environment, when positioning devices such asHa-IPSs are deployed, locations of terminals or employees can betracked. Therefore, location-based access rules can be designed todefine certain “secure zone.” Only within such a zone, access toconfidential information databases can be allowed; beyond or out of thezone, any access will be prohibited. The above-noted secure zone may bea room, part of a working area, or even a table.

So far, varieties of Ha-IPSs have been developed to provide thegeographical relationship between users and environments. In theseHa-IPSs, the positioning and geographical relationship determinationprocess can be summarized as three phases.

1. Ha-IPS setting up phase, which can comprise the steps of:

1) calibrating the locations of reference points. The reference pointlocations refer to the locations of positioning devices or beacons. whencalculating the location of an object point, the locations ofpositioning devices or reference points must be known in advance and areused as calculation references in a positioning algorithm.

2) configuring the size of a reference space. The reference space meansa space in which the object is moving, such as a room and an office. Inorder to learn the geographical relationship of the object to theenvironment, the size of the reference space must be known.

3) characterizing the Area of Interest. The Area of Interest (AOI) meansa geographical area which is characterized by a user for some specificapplication requirements (such as for security purposes). The Area ofInterest is located in the reference space. For example, in “SecureTable” application, the table is defined as the Area of Interest. Onlywithin the Area of Interest, access to confidential information isallowed; beyond or out of the Area of Interest, any access to theconfidential information is prohibited.

In the Ha-IPS setting up phase, since errors in reference pointcalibration will be inherited to the object positioning process,sufficiently accurate calibration is required. Additionally, since thepositioning devices are commonly deployed on the ceiling, a calibrationprocess with few human efforts is especially desired. Furthermore, sincemeasuring a practical environment involves lots of human efforts, anaccurate, fast and automatic reference space configuration method isespecially desired.

2. Ha-IPS online locating phase. In this phase, the real-time locationof the object point is calculated based on a measured distance of theobject and the calibrated reference points' coordinates.

3. Geographical relationship inferring phase. In this phase, theobject's geographical relation to the reference space and Areas ofInterest is inferred based on the definitions of the reference space andAreas of Interest and the real-time location of the object point ascalculated in the second phase. In this process, lots of measurement andrecording efforts are spent because Areas of Interest are mainlycharacterized manually.

As discussed above, a common defect in the existing Ha-IPSs is that theconfiguration, calibration, and characterization thereof requireenormous efforts. Hence, the use of the existing Ha-IPSs is not quiteconvenient, nor does it meet user-friendly requirements.

Therefore, there is a dire need in the art for a technical solution toautomatically configure and calibrate a positioning device and also fora technical solution to automatically characterize an area of interestin a space.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a technical solutionfor automatically configuring and calibrating a positioning device.

Another object of the present invention is to provide a technicalsolution for automatically characterizing an area of interest in aspace.

According to a first aspect of the present invention, there is provideda system. The system may comprise: a tag capable of emitting rangingsignals, placed at one or more location points which are selected asspace feature points in a space; a positioning device in said space,configured to obtain relative coordinates of said space feature pointsin relation to the positioning device based on the ranging signals fromthe tag; and a server, configured to determine location parameters ofsaid positioning device in said space based on said relativecoordinates, so as to calibrate said positioning device.

According to a second aspect of the present invention, there is provideda system. The system may comprise: a tag capable of emitting rangingsignals, placed at one ore more location points in a space; a firstcalibrated positioning device, configured to obtain absolute coordinatesof said location points in said space based on the ranging signals fromthe tag; a second positioning device, configured to obtain relativecoordinates of said location points in relation to said secondpositioning device based on the ranging signals from the tag; and aserver, configured to determine location parameters of said secondpositioning device in said space based on said absolute coordinates andsaid relative coordinates, so as to calibrate said second positioningdevice, wherein said location points are located in an overlappedcoverage area between said first calibrated positioning device and saidsecond positioning device.

According to a third aspect of the present invention, there is provideda system. The system may comprise: a tag capable of emitting rangingsignals, placed at area of interest (AOI) feature points which cancharacterize an area of interest in a space; a positioning device insaid space, configured to obtain location parameters of said AOI featurepoints based on the ranging signals from the tag; and a server,configured to characterize said area of interest based on the locationparameters of said AOI feature points.

According to a fourth aspect of the present invention, there is provideda method for calibrating a positioning device in a space, wherein one ormore location points in the space are selected as space feature points.The method may comprise: receiving relative coordinates of said spacefeature points in relation to said positioning device; and determininglocation parameters of said positioning device in said space based onsaid relative coordinates, so as to calibrate said positioning device.

According to a fifth aspect of the present invention, there is provideda method for calibrating a positioning device. The method may comprise:receiving absolute coordinates of one or more location points in a spaceand relative coordinates of said location points in relation to saidpositioning device; and determining location parameters of saidpositioning device in said space based on said absolute coordinates andsaid relative coordinates, so as to calibrate said positioning device.

According to a sixth aspect of the present invention, there is provideda method for characterizing an area of interest in a space. The methodmay comprise: receiving location parameters of area of interest (AOI)feature points which can characterize the area of interest, wherein saidlocation parameters are obtained by a positioning device deployed in thespace; and characterizing said area of interest based on said locationparameters.

According to a seventh aspect of the present invention, there isprovided a device for calibrating a positioning device deployed in aspace, wherein one or more location points in the space are selected asspace feature points. The device may comprise: receiving means forreceiving relative coordinates of said space feature points in relationto said positioning device; and determining means for determininglocation parameters of said positioning device in said space based onsaid relative coordinates, so as to calibrate said positioning device.

According to an eighth aspect of the present invention, there isprovided a device for calibrating a positioning device. The device maycomprise: receiving means for receiving absolute coordinates of one oremore location points in a space and relative coordinates of saidlocation points in relation to said positioning device; and determiningmeans for determining location parameters of said positioning device insaid space based on said absolute coordinates and said relativecoordinates, so as to calibrate said positioning device.

According to a ninth aspect of the present invention, there is provideda device for characterizing an area of interest in a space. The devicemay comprise: receiving means for receiving location parameters of areaof interest (AOI) feature points which can characterize said area ofinterest, wherein said location parameters are obtained by a positioningdevice deployed in the space; and characterizing means forcharacterizing said area of interest based on said location parameters.

The advantageous effect of embodiments of the present invention is thatmanual measurements of various location parameters and size are reducedand even are not needed during the processes of calibrating andconfiguring the positioning device. As a result, considerable human costis saved, work efficiency increased, and positioning accuracy improved.Furthermore, according to an embodiment of the present invention, it ispossible to automatically characterize an area of interest in a space.

BRIEF DESCRIPTION ON THE DRAWINGS

As the present invention is better understood, other objects and effectsof the present invention will become more apparent and easy tounderstand from the following description, taken in conjunction with theaccompanying drawings wherein:

FIG. 1 depicts a schematic view of a space in which the presentinvention is implemented and which uses a room as an example;

FIG. 2 depicts a schematic view of a positioning device according to anembodiment of the present invention;

FIG. 3 depicts a block diagram of a system according to an embodiment ofthe present invention;

FIG. 4 depicts a three-dimensional schematic view of a reference spaceaccording to an embodiment of the present invention;

FIG. 5 depicts a simplified two-dimensional view of a reference spaceaccording to an embodiment of the present invention;

FIG. 6 depicts a block diagram of a device according to an embodiment ofthe present invention;

FIG. 7 depicts a block diagram of a system according to anotherembodiment of the present invention;

FIG. 8 depicts a spatial schematic view of a method for calibrating apositioning device based on a calibrated positioning device according toan embodiment of the present invention;

FIG. 9 depicts a block diagram of a device according to anotherembodiment of the present invention;

FIG. 10 depicts a block diagram of a system according to anotherembodiment of the present invention;

FIG. 11 depicts a schematic view of a method for characterizing apolygonal area of interest according to an embodiment of the presentinvention;

FIG. 12 depicts a schematic view of a method for characterizing acircular area of interest according to an embodiment of the presentinvention;

FIG. 13 depicts a schematic view of a method for characterizing anelliptic area of interest according to an embodiment of the presentinvention;

FIG. 14 depicts a schematic view of a method for characterizing acombination of two circles having different radiuses according to anembodiment of the present invention;

FIGS. 15 a and 15 b each depict a schematic view of the grouping processaccording to an embodiment of the present invention;

FIG. 16 depicts an example of fitting an irregularly-shaped feature areaas a quadrangle according to an embodiment of the present invention;

FIG. 17 depicts a block diagram of a device according to anotherembodiment of the present invention;

FIG. 18 depicts a flowchart of a method according to an embodiment ofthe present invention;

FIG. 19 depicts a flowchart of a method according to another embodimentof the present invention; and

FIG. 20 depicts a flowchart of a method according to a furtherembodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to FIGS. 1 and 2, a brief explanation is first given to theterms mentioned in the embodiments of the present invention.

1. Space

The Space according to the embodiment of the present invention means aspace in which an object moves, such as a room, office, and meetingroom. FIG. 1 depicts a schematic view of a reference space 10 using aroom as an example. It is to be understood that the embodiment of thepresent invention is not limited to a quadrangular room as depicted inFIG. 1, and the room may be in any shape. To learn the location of anobject in a space, the size of the space must be known. According to anembodiment of the present invention, there is provided a technicalsolution for determining the size of a space, which will be describedbelow in detail.

2. Space Feature Point

The space feature point is a location point for determining a space. Forexample, in space 10 which is a room as an example in FIG. 1, spacefeature points maybe room corner location points 11, 12, and 13. Inprinciple, any point within the space can be selected as a space featurepoint as long as this point can be used to determine the space. It is tobe understood that when the room is in other polygonal shape, e.g., ahexagonal shape, vertices of the polygon can be used as feature points.If the room is in other irregular shape, then at least three points onthe boundary of the room are used to fit a polygon, so that the room inother shape can be treated like a polygonal room.

3. Positioning on One Device (POD)

The POD according to the embodiment of the present invention is a devicefor determining the coordinates of a location point in a space. FIG. 2depicts an example of the POD used in the embodiment of the presentinvention. As depicted in FIG. 2, the POD used in the embodiment of thepresent invention is a sensor array having a plurality of leaf nodes.The number of leaf nodes is at least two. In other words, the PODcomprises at least two leaf node sensors and one sensor located betweenthe at least two leaf node sensors. Typically, the more leaf nodes, thehigher positioning accuracy. The POD depicted in FIG. 2 has six leafnodes. In a practical application as depicted in FIG. 1, POD 14 isusually deployed on the ceiling of space 10, which can emit rangingsignals to an object location point in space 10 or receive rangingsignals from an object location point in space 10.

Only a receiving function of the POD is used in the embodiment of thepresent invention. However, the POD may have a calculation function forperforming relevant calculation according to received ranging signals.Or the POD can be connected to a remote server or a dedicated computerdevice in a wired or wireless fashion, so that it can performcalculation based on ranging signals at the remote server or dedicatedcomputer device. Usually, it is possible to obtain the coordinates of anobject location point in a space using a conventional triangulation orcoordination transformation based on ranging signals received from theobject location point by the POD. As the structure and function of thePOD are well known in the art, details thereof are omitted.

4. Absolute Coordinate System

A coordination system where a location point in a space is used as theorigin of coordinates is termed an absolute coordinate system in theembodiment of the present invention. Any feature point in the space canbe used as the origin of the absolute coordinate system. For example, afeature point 11 is used as the origin of the absolute coordinate systemin space 10 depicted in FIG. 1. Of course, those skilled in the artwould appreciate that selecting one of feature points as the originmerely facilitates calculation but is not essential. If other locationpoint is selected as the origin of coordinates, the above-discussedabsolute coordinate system can be obtained through simple coordinatetranslation. This is quite familiar to those skilled in the art, so adetailed description thereof is omitted.

5. Relative Coordinate System

A coordinate system where the POD is used as the origin is termed arelative coordinate system in the embodiment of the present invention.The origin of the relative coordinate system is the center point of thePOD, and the X-axis direction is the first sensor (not depicted) of thePOD. Here, the so-called “first sensor” may be specified during initialconfiguration for the manufacture of the POD. When the X-axis isspecified, a direction perpendicular to the X-axis and located in theplane of the POD is defined as the Y-axis.

When the POD is calibrated, an included angle θ might be formed betweenthe relative coordinate system and the absolute coordinate system. Inthe present invention, this included angle is termed a setting angle ofthe POD in the absolute coordinate system, i.e., a POD angle 18 asdepicted in FIG. 1. Hence, location parameters of the location (a PODlocation 17 as depicted in FIG. 1) of the POD in the space comprise theabsolute coordinates under the absolute coordinate system and thesetting angle θ of the POD. According to an embodiment of the presentinvention, there is a provided a technical solution for calibrating apositioning device in a space, which will be described below in detail.

6. Tag

In the embodiment of the present invention, the tag means a tag capableof emitting ranging signals, such as an RF tag. It may be placed at alocation point in a space, so that the relative coordinates or absolutecoordinates of the location point can be obtained by receiving rangingsignals emitted from the tag by the POD. There may be various types ofranging signal, including, without limitation to, ultrasonic waves,infrared, lasers, RF signals, ultra-broadband pulse signals, Dopplersignals, and sound waves. As determining of the relative coordinates orabsolute coordinates of the location point by the POD and tag is wellknown in the art, details thereof is omitted.

7. Area of Interest (AOI) and AOI Feature Point

The Area of Interest means a geographical area characterized by a userfor some specific application requirements (such as for securitypurposes). The Area of Interest is located in a space. For example, in“Secure Table” application, the table is defined as the Area ofInterest. Only within the Area of Interest, access to confidentialinformation is allowed; beyond or out of the Area of Interest, anyaccess to the confidential information is prohibited. The AOI featurepoints refer to location points that can be used for characterizing theArea of Interest. FIG. 1 depicts the Area of Interest 15 and an AOIfeature point 16. According to an embodiment of the present invention,there is provided a technical solution for characterizing the Area ofInterest in a space, which will be described below in detail.

Each embodiment of the present invention will be described withreference to the figures. It is to be understood that these embodimentsare merely illustrative and not limiting.

Description is first given to a technical solution for calibrating apositioning device according to an embodiment of the present invention.FIG. 3 depicts a schematic view of a system 100 according to anembodiment of the present invention, which system is used for measuringthe size of a space and calibrating a positioning device in the space.

As depicted in FIG. 1, system 100 may comprise: a tag 110 capable ofemitting ranging signals and placed at one or more location points inthe space which serve as space feature points; a positioning device 120located in the space and configured to obtain relative coordinates ofthe space feature points in relation to the positioning device based onthe ranging signals from the tag; and a server 130 configured todetermine location parameters of positioning device 120 in the spacebased on the obtained relative coordinates, so as to calibrate thepositioning device 120.

A detailed description will be given below to the implementation ofsystem 100. Specifically, according to an embodiment of the presentinvention, three space feature points (depicted as reference spacefeature points in FIG. 1) in the space are selected, and tag 110 capableof emitting ranging signals is placed at these feature points so as todetermine the three space feature points' relative coordinates inrelation to the positioning device. In an embodiment of the presentinvention, an individual tag is placed at each space feature points todetermine these space feature points' relative coordinates.Alternatively, one tag is successively placed at the selected spacefeature points to determine these space feature points' relativecoordinates. As tag 110 is well known in the art, details thereof areomitted.

Then, positioning device 120 is deployed in the space, and thepositioning device 120 may be deployed at any place of the space.Alternatively, positioning device 120 is deployed on the ceiling of thespace. The initial deployment is arbitrary, i.e., the positioning devicemay be deployed at any place of the ceiling. Next, positioning device120 obtains these space feature points' relative coordinates in relationto itself based on the ranging signals from tag 110.

For example, in an embodiment of the present invention, positioningdevice 120 determines three sensors' relative coordinates in relation toitself by taking its center as the origin of coordinates. Then, thethree sensors obtain their respective distances to each space featurepoint based on the ranging signals from tag 110 at the space featurepoints. And lastly, the relative coordinates of each space feature pointin relation to positioning device 120 are obtained according to atraditional triangulation algorithm (e.g., the Least Mean Square Erroralgorithm) by using the respective distances from the space featurepoints to each sensor and the relative coordinates of each sensor. Asobtaining of the relative coordinates of each space feature point inrelation to positioning device 120 by the traditional triangulationalgorithm is well known in the art, details thereof are omitted.

According to the embodiment of the present invention, server 130automatically calculates location parameters of positioning device 120in the space, so as to automatically calibrate positioning device 120.This will be described in detail. Alternatively, the location parameterscomprise the absolute coordinates (x, y, z) and the setting angle θ ofpositioning device 120 in the space. This will also be described indetail.

It is not necessary that tag 110 and positioning device 120 are placedsequentially. They may be placed at the same time, or positioning device120 may be placed first, and then tag 110 is placed at space featurepoints.

Referring to FIGS. 4 and 5, description is given regarding how theserver determines location parameters of positioning device 120 in thespace based on the obtained relative coordinates of three referencespace feature points in the context of a quadrangular room.

First of all, the size of the room (i.e., the reference space) iscalculated.

As depicted in FIG. 4, the respective relative coordinates of threereference space feature points on the ground are set as (x₁,y₁,z₁),(x₂,y₂,z₂), (x₃,y₃,z₃), which relative coordinates have been learnedusing positioning device 120 and tag 110. The feature point (x₁,y₁,z₁)is defined as the origin of absolute coordinate system (0, 0, 0) in thereference space. The room's length (l), width (w), and height (h),positioning device's 120 absolute coordinates (x, y, z) as well as thePOD's setting angle θ are unknowns.

First, positioning device 120's z-coordinate, i.e., the positioningdevice's height (h), is determined. As the ceiling is typically parallelto the ground, positioning device 120's height is h, i.e., z=h=z₁=z₂=z₃.However, considering possible error, e.g., error caused by unevenness ofthe ground, the z-coordinate is determined z=h=(z₁+z₂+z₃)/3.

After z is determined, the other unknowns are to be solved in thetwo-dimensional space.

FIG. 5 depicts a schematic view of how to calculate the unknown values(e.g., the room's length (l), width (w), and height (h), the POD'sabsolute coordinates (x, y) and setting angle θ) in the two-dimensionalspace according to an embodiment of the present invention.

As depicted in FIG. 5, a coordinate system represented by solid lines isthe absolute coordinate system in the present invention, and acoordinate system represented by dashed lines is the relative coordinatesystem where the positioning device serves as the origin. The includedangle between the two coordinate systems, i.e., the setting angle of thepositioning device, is θ.

According to FIG. 5, equation group (1) is obtained through conventionalcoordinate transformation.

x ₁ cos(θ)−y ₁ sin(θ)+x=0

x ₁ sin(θ)+y ₁ cos(θ)+y=0

x ₂ cos(θ)−y ₂ sin(θ)+x=l

x ₂ sin(θ)+y ₂ cos(θ)+y=w

x ₃ cos(θ)−y ₃ sin(θ)+x=l

x ₃ sin(θ)−y ₃ cos(θ)+y=0

(x ₁ −x ₃)²+(y ₁ −y ₃)² =l ²

(x ₂ −x ₃)²+(y ₂ −y ₃)² =w ²   (1)

Those skilled in the art would appreciate that using more referencespace feature points will increase the number of equations in equationgroup (1), i.e., the rows of the coefficient matrix. This is well knownto those skilled in the art, so details thereof are omitted.

The positioning device's absolute coordinates (x, y) and angle θ, thereference space's length l and width w are derived by solving equationgroup (1). The calculation process is as below:

$\begin{matrix}{l = \sqrt{\left( {x_{1} - x_{3}} \right)^{2} + \left( {y_{1} - y_{3}} \right)^{2}}} & (2) \\{w = \sqrt{\left( {x_{2} - x_{3}} \right)^{2} + \left( {y_{2} - y_{3}} \right)^{2}}} & (3) \\{x = {\left( {x_{1}^{2} + y_{1}^{2} - {x_{1}x_{3}} - {y_{1}y_{3}}} \right)/l}} & (4) \\{y = {x_{3}^{2} + y_{3}^{2} - {x_{2}x_{3}} - {y_{2}{y_{3}/w}}}} & (5) \\{\theta = {{ac}\; {\sin \left( \frac{{y_{3}x} - {x_{1}y}}{{x_{1}x_{3}} + {y_{3}y_{1}}} \right)}}} & (6)\end{matrix}$

In this way, the reference space's size and the positioning device'slocation parameters in the reference space, e.g., the positioningdevice's absolute coordinates (x, y, z) and setting angle θ, areobtained, so that determining of the space's size and calibrating of thepositioning device are completed.

It is note that, once calibrated, the positioning device 120 candirectly obtain absolute coordinates of any point in the space using theexisting triangulation algorithm. In addition, positioning device 120can obtain absolute coordinates of any point in the space throughtransformation from relative coordinates into absolute coordinates. Thatis, relative coordinates of a location point in relation to thepositioning device in the space is obtained, and then the locationpoint's absolute coordinates are obtained through conventionalcoordinate transformation.

The process of calibrating the positioning device according to theembodiment of the present invention has been described by selectingthree space feature points in the foregoing example. However, thepresent invention is not limited to the implementation by three spacefeature points. In a specific implementation, only one or two spacefeature points can be used for calibrating the positioning device. Forexample, when the positioning device is deployed on the ceiling of theroom, the X-axis (e.g., the direction of the first sensor) of its ownrelative coordinate system is made parallel to the X-axis of the space'sabsolute coordinate system. In this case, the positioning device'ssetting angle θ is actually zero. At this point, one of the room'scorners is the origin of the absolute coordinate system, i.e., absolutecoordinates of this corner are (0, 0, 0). This corner's relativecoordinates in relation to the positioning device can be obtained by thepositioning device. As discussed above, the positioning device'sZ-coordinate is equal to the Z-coordinate value of the corner's relativecoordinates in relation to the positioning device. In thetwo-dimensional plane, the positioning device's absolute X-coordinateand Y-coordinate are obtained through ordinary coordinate systemtranslational transformation based on the corner's relative and absolutecoordinates. As the transformation is well known in the art, detailsthereof are omitted.

It is to be understood that according to the embodiment of the presentinvention, the more space feature points are selected, the moreequations are obtained through coordinate transformation, and the moreaccurate the positioning device's location parameters are determined assuch.

The foregoing embodiment describes the process of calibrating thepositioning device in a quadrangular room. However, it is to beunderstood that the present invention is not limited to a quadrangularspace. If the space is in an irregular shape, a polygon can be fit usingthree points on the boundary of the space, so that the space in anirregular shape can be treated like a polygonal space.

As depicted in FIG. 6, according to another embodiment of the presentinvention, there is also provided a device 200 for calibrating apositioning device in a space where one or more location points areselected as space feature points. Device 200 may comprise: receivingmeans 210 for receiving relative coordinates of the space feature pointsin relation to the positioning device; and determining means 220 fordetermining location parameters of the positioning device in the spacebased on the relative coordinates, so as to calibrate the positioningdevice. The operating process of determining means 220 is the same asthe process of determining the positioning device's location parametersin the space based on relative coordinates in the embodiment asdescribed in conjunction with FIG. 3.

According to the embodiment of the present invention, a tag capable ofemitting ranging signals can be placed at the space feature point.Relative coordinates can be obtained by the positioning device based onranging signals from the tag. This is the same as the operating processof positioning device 120 in FIG. 3.

It is to be understood that in practical applications, device 200 can beintegrated on the positioning device 120 depicted in FIG. 3 or on server130 connected to the positioning device 120 as depicted in FIG. 3.

Description will be given below to the technical solution forcalibrating a positioning device according to another embodiment of thepresent invention. Usually, multiple positioning devices can be deployedin a large room so as to cover the whole room. As depicted in FIG. 7,according to another embodiment of the present invention, there isprovided a system 300 for calibrating multiple positioning devices.System 300 may comprise: a tag 310 capable of emitting ranging signalsand placed at one or more location points in the space; a calibratedfirst positioning device 310 configured to obtain the location point'sabsolute coordinates in the space based on ranging signals from tag 310;a second positioning device 330 configured to obtain the locationpoints' relative coordinates in relation to itself based on rangingsignals from tag 310; and a server 340 configured to determining secondpositioning device 330's location parameters in the space based on theabsolute coordinates and relative coordinates, so as to calibrate secondpositioning device 330, wherein the location points are located in anoverlapped coverage area between first positioning device 320 and secondpositioning device 330.

Description is given below to concrete implementation of system 300 withreference to FIG. 8. To facilitate description, first positioning device320, which has been calibrated in the space is denoted as POD1, andsecond positioning device 330, which is to be calibrated, is denoted asPOD2 in the figure.

In FIG. 8, POD1 has been calibrated. It should be noted, however, thatthe calibration of POD1 can be implemented either by the technicalsolution according to FIGS. 3-6 or by other suitable methods.

In order to calibrate POD2, first, the respective coverage areas of POD1and POD2 should be determined, and it should be ensured that POD1 andPOD2 have an overlapped coverage area. As depicted in FIG. 8, thecoverage area of POD1 is called the first coverage area, POD2 has thesecond coverage area, and POD1 and POD2 have an overlapped coveragearea. Various methods can be used to determine the overlapped coveragearea. For example, it is possible to determine whether a specificlocation is located within the overlapped coverage area, by checkingwhether POD1 and POD2 can simultaneously detect a tag placed at thelocation. Other methods can also be used to determine the overlappedcoverage area.

Then, to calibrate POD2, the POD2's absolute coordinates (x₂₀,y₂₀,z₂₀)in the room and POD2's angle θ₂₀ should be calculated. Specifically, twolocation points (referred to as overlapped coverage area location pointsfor the purpose of convenient description) within the overlappedcoverage area are selected, and a tag (referred to as overlappedcoverage area tag for the same purpose) is placed at each of thelocation points so as to emit ranging signals (referred to as overlappedcoverage area ranging signals for the same purpose). Alternatively, onetag is successively placed at at least two location points to emitranging signals.

According to an embodiment, POD1 can first obtain these two overlappedcoverage area location points' relative coordinates in relation toitself based on ranging signals from the overlapped coverage area tagand then obtain these two overlapped coverage area location points'absolute coordinates through coordinate transformation, e.g.,(x₁₁,y₁₁,z₁₁) and (x₁₂,y₁₂,z₁₂). Alternatively, POD1 can directly obtainthese two overlapped coverage area location points' absolute coordinates(x₁₁,y₁₁,z₁₁) and (x₁₂,y₁₂,z₁₂) by the existing triangulation algorithmbased on ranging signals from the tag.

At the same time, POD2 can obtain these two overlapped coverage arealocation points' absolute coordinates (x₂₁,y₂₁,z₂₁) and (x₂₂,y₂₂,z₂₂) inits own coordinate system. Since POD1 has been calibrated, these twooverlapped coverage area location points' absolute coordinates areknown. In addition, since POD2 is deployed on the ceiling for example,POD2's z₂₀=h=(z1+z2+z3)/3. In this way, the calculation of POD2'scoordinates (x₂₀,y₂₀,z₂₀) and angle θ is simplified to be performed inthe two-dimensional coordinate.

POD2's absolute coordinates in the reference space can be calculated bythe following equation group through geometric analysis:

$\begin{matrix}\left\{ \begin{matrix}{{{x_{21}{\cos \left( \theta_{20} \right)}} - {y_{21}{\sin \left( \theta_{20} \right)}} + x_{20}} = x_{11}} \\{{{x_{21}{\sin \left( \theta_{20} \right)}} + {y_{21}{\cos \left( \theta_{20} \right)}} + y_{20}} = y_{11}} \\{{{x_{22}{\cos \left( \theta_{20} \right)}} - {y_{22}{\sin \left( \theta_{20} \right)}} + x_{20}} = x_{12}} \\{{{x_{22}{\sin \left( \theta_{20} \right)}} + {y_{22}{\cos \left( \theta_{20} \right)}} + y_{20}} = y_{12}}\end{matrix} \right. & (7)\end{matrix}$

The following matrix calculation can be derived by equation group (7):

$\begin{matrix}{{\begin{bmatrix}x_{21} & {- y_{21}} & 1 & 0 \\y_{21} & x_{21} & 0 & 1 \\x_{22} & {- y_{22}} & 1 & 0 \\y_{22} & x_{22} & 0 & 1\end{bmatrix}\begin{bmatrix}{\cos \left( \theta_{20} \right)} \\{\sin \left( \theta_{20} \right)} \\x_{20} \\y_{20}\end{bmatrix}} = \begin{bmatrix}x_{11} \\y_{11} \\x_{12} \\y_{12}\end{bmatrix}} & (8)\end{matrix}$

By solving the matrix, the second positioning device's coordinates andangle θ₂₀ can be obtained:

$\begin{matrix}{\begin{bmatrix}{\cos \left( \theta_{20} \right)} \\{\sin \left( \theta_{20} \right)} \\x_{20} \\y_{20}\end{bmatrix} = {\left( {A^{T}A} \right)^{- 1}A^{T}b}} & (9)\end{matrix}$

in which

${A = \begin{bmatrix}x_{21} & {- y_{21}} & 1 & 0 \\y_{21} & x_{21} & 0 & 1 \\x_{22} & {- y_{22}} & 1 & 0 \\y_{22} & x_{22} & 0 & 1\end{bmatrix}},{b = \begin{bmatrix}x_{11} \\y_{11} \\x_{12} \\y_{12}\end{bmatrix}}$

Thus, the absolute coordinates and angle of POD2, which is to becalibrated, are determined.

The process of calibrating the positioning device according to theembodiment of the present invention has been described by selecting twooverlapped coverage area location points in the foregoing example.However, the present invention is not limited to two overlapped coveragearea location points. In a specific implementation, only one overlappedcoverage area location point can be used for calibrating the positioningdevice. For example, if the first positioning device has been calibratedand the second positioning device is to be calibrated, the secondpositioning device's X-axis can be set to be parallel to the firstpositioning device's X-axis. In this case, the second positioningdevice's setting angle is the same as the first positioning device'ssetting angle, which is a known. At this point, an overlapped coveragearea location point's absolute coordinates are obtained by thecalibrated first positioning device, and the location point's relativecoordinates in relation to the second positioning device are obtained bythe second positioning device. Next, the second positioning device'sabsolute coordinates can be obtained through ordinary coordinatetransformation.

It should be noted that more than two overlapped coverage area locationpoints can be selected. This will increase the number of rows of theforegoing coefficient matrix, whereas the calculation process is thesame as the foregoing calculation process. It is to be understood thatselecting more overlapped coverage area location points helps toincrease the positioning accuracy.

Further, more PODs can be gradually calibrated based on the calibratedPOD using the foregoing method, so that a larger area is covered.Details are omitted here.

As depicted in FIG. 9, according to an embodiment of the presentinvention, there is provided a device 400 for calibrating a positioningdevice (e.g., POD2). Device 400 may comprise: receiving means 410 forreceiving one or more location points' absolute coordinates in a spaceand their relative coordinates in relation to the positioning device;and determining means 420 for determining the positioning device'slocation parameters in the space based on the absolute coordinates andrelative coordinates, so as to calibrate the positioning device. Theoperating process of determining means 420 is the same as the process ofdetermining the positioning device's location parameters in the spacebased on absolute coordinates and relative coordinates in the embodimentas described with reference to FIGS. 7 and 8.

It is to be understood that the location points' absolute coordinates inthe space can be obtained in any known manner. Alternatively, the atleast two location points' absolute coordinates are determined byanother positioning device (e.g., POD1) that has been calibrated,according to the embodiment of the present invention. The at least twolocation points are located in an overlapped coverage area between thepositioning device and the calibrated another positioning device, a tagcapable of emitting ranging signals is placed at the at least twolocation points, the positioning device can obtain the relativecoordinates based on ranging signals from the tag, and the anotherpositioning device can obtain the absolute coordinates based on rangingsignals from the tag. Of course, the location points' absolutecoordinates in the space can also be determined manually.

It should be noted that device 400 can be integrated in the firstpositioning device 320 or second positioning device 330 (e.g., POD2) orserver 340 depicted in FIG. 7.

Description has been given above to a method of calibrating apositioning device according to an embodiment of the present invention.It is plain that no manual measurement of the room's length, width aswell as the positioning device's setting angle is involved when thepositioning device is being calibrated. Furthermore, manual measurementis avoided by using tags, so that the working efficiency is increasedand the calibration accuracy improved.

Description will be given below to a technical solution forcharacterizing an area of interest after determining a reference spaceand calibrating a positioning device according to an embodiment of thepresent invention. Referring back to FIG. 1, an area of interest isshown in this figure. The area of interest may be any placed within thespace, or an area in an arbitrary shape may be selected as an area ofinterest. When a person wearing a tag enters this area of interest, theperson's relationship with the space is determined according torequirements, such as permitting/prohibiting the person's access tospecific confidential information. To achieve this purpose, it isnecessary to determine the boundary of the area of interest, i.e.,characterize the area of interest.

It should be noted the space where the area of interest is located isnot necessarily a reference space determined according to the embodimentin FIGS. 3-6 of the present invention but may be a space determinedaccording to any prior art including manual measurement without a tag. Apositioning device that determines the area of interest is notnecessarily the positioning device depicted in FIG. 2 but may be anyknown positioning device or positioning device array.

As depicted in FIG. 10, according to an embodiment of the presentinvention, there is provided a system 500 for determining orcharacterizing an area of interest. System 500 may comprise: a tag 510capable of emitting ranging signals and placed at AOI feature pointsthat can characterize an area of interest in a space; a positioningdevice 520 in the space, which is configured to obtain locationparameters of the AOI feature points based on ranging signals from tag510; and a server 530 configured to characterize the area of interestbased on the location parameters of the AOI feature points.

If the area of interest is located in the determined space, it canemploy the same reference coordinates as the reference space. In otherwords, absolute coordinates of any point within the area of interestreferences a certain point (e.g., a corner of a room) within thereference space as the origin.

Shapes of areas of interest can be classified as two categories, namelyregular shapes and irregular shapes. Respective descriptions will begiven below to technical solutions for determining a regularly-shapedarea of interest and for determining an irregularly-shaped area ofinterest according to the present invention. It should be noted herethat since preferably the area of interest is parallel to the horizontalplane, the height of the area of interest may be the height of anyselected AOI feature point. To prevent the occurrence of positioningerror, however, the average of the heights of these areas of interest isselected. Once the height of the area of interest is selected, what isleft is to determine the shape of the area of interest in thetwo-dimensional coordinate. This is the same as averaging of theZ-coordinates of several feature points during determining the referencespace. Hence, description of the Z-coordinate is omitted, but only amethod of determining the area of interest in the two-dimensionalcoordinate is described.

A detailed description is given now to the concrete implementation ofsystem 500 depicted in FIG. 10, with reference to FIGS. 11-16. FIG. 11depicts a schematic view of a method of characterizing a polygonal areaof interest according to an embodiment of the present invention.

As depicted in FIG. 11, the polygon has five edges for example, sopreferably the five vertices of the polygon are selected as AOI featurepoints. Tag 510 as depicted in FIG. 10 is placed at each vertex of thepolygon, which tag can emit ranging signals to positioning device 520.Then, positioning device 520 receives the ranging signals and obtainsfrom the ranging signals coordinates of the five AOI feature points inthe space. Alternatively, relative coordinates of the five AOI featurepoints in relation to positioning device 520 are obtained first. Next,absolute coordinates of these AOI feature points in the reference spaceare obtained based on the relative coordinates and positioning device520's location parameters in the space through traditional coordinationtransformation. In this way, it is possible to characterize thepolygonal, e.g., pentagonal AOI based on the absolute coordinates.Specifically, these vertices are connected so as to determine thepolygonal area of interest.

It is to be understood that the area of interest can also becharacterized by using relative coordinates of the AOI feature points inrelation to the positioning device.

FIG. 12 depicts a schematic view of a method of characterizing acircular area of interest according to another embodiment of the presentinvention.

As depicted in FIG. 12, if the area of interest is a circle, featurepoints of the area of interest are preferably selected as the centerpoint of the circle and an arbitrary point on the circle edge. Let thecenter point's two-dimensional absolute coordinates be (x₁, y₁) andtwo-dimensional absolute coordinates of the arbitrary point on thecircle edge be (x₂, y₂), then the radius r of the circular area ofinterest is

r=√{square root over ((x ₁ −x ₂)²+(y ₁ −y ₂)²)}{square root over ((x ₁−x ₂)²+(y ₁ −y ₂)²)}  (10)

According to equation (10), coordinates (x, y) of the arbitrary pointwithin the circular area of interest can be determined as

(x−x ₁)²+(y−y ₁)² ≦r ²   (11)

FIG. 13 depicts a method of characterizing an elliptic area of interestaccording to a further embodiment of the present invention.

As depicted in FIG. 13, if the area of interest is an ellipse, featurepoints of the area of interest are preferably selected as the centerpoint of the ellipse, the cross point of the long axis with the ellipse,and the cross point of the short axis with the ellipse. Lettwo-dimensional absolute coordinates of the center point be (x₁, y₁),two-dimensional coordinates of the cross point of the long axis with theellipse be (x₂, y₂), and two-dimensional coordinates of the cross pointof the short axis with the ellipse be (x₃, y₃), then the ellipse's longaxis a and short axis b are

a=√{square root over ((x ₁ −x ₂)²+(y ₁ −y ₂)²)}{square root over ((x ₁−x ₂)²+(y ₁ −y ₂)²)}  (12)

b=√{square root over ((x ₁ −x ₃)²+(y ₁ −y ₃)²)}{square root over ((x ₁−x ₃)²+(y ₁ −y ₃)²)}  (13)

According to equations (12) and (13), coordinates (x, y) of an arbitrarypoint within the elliptic area of interest can be determined as

$\begin{matrix}{{\frac{\left( {x - x_{1}} \right)^{2}}{a^{2}} + \frac{\left( {y - y_{1}} \right)^{2}}{b^{2}}} \leq 1} & (14)\end{matrix}$

It should be noted that only several examples of irregular shape aregiven here. The present invention is not limited to the above-describedpolygon, circle, and ellipse but may include other shapes that can beexpressed by more complex mathematical functions. In addition, theregular shape further means a combination of the above-noted basicregular shapes, such as a combination of circles and a combination of acircle and an ellipse. FIG. 14 depicts a combination of two circleshaving different radiuses. It is to be understood that those skilled inthe art can determine the cross points A and B of these two circlesaccording to equations (10) and (11), thereby determining an area ofinterest. The concrete calculation is quite obvious to those skilled inthe art, so details thereof are omitted.

Description has been given above to examples of how to determine aregularly-shaped area of interest. Then, it is time to describe how todetermine an irregularly-shaped area of interest.

Since any irregular shape can be approximated by a polygon. Descriptionwill be given below to how to fit an irregularly-shaped area of interestusing a polygon.

First of all, it should be noted that “placing” tag 510 can beimplemented in various ways. For example, multiple tags 510 can besimultaneously placed on the boundary of an irregularly-shaped area ofinterest, so that the positioning device can directly or indirectlyobtain absolute coordinates or relative coordinates of AOI featurepoints where these tags are placed, based on these tags (i.e., throughcoordinate transformation). The more tags, the more accurate the shapeof the area of interest. In addition, the following approaches can alsobe adopted: a user carries a tag and moves along the boundary of thisirregularly-shaped area of interest. When the user is moving, thepositioning device continuously receives signals from the tag, therebyobtaining a coordinate sequence of AOI feature points. Preferably, toincrease quality of the coordinate sequence of AOI feature points, theuser will stay at each feature point for a while until a result obtainedby the positioning device becomes stable. The more feature points beingcollected, the higher accuracy of the determined irregularly-shaped areaof interest. It should also be noted that to enhance accuracy, theheight of the area of interest can be obtained by averaging heights ofrespective feature points.

According to the embodiment of the present invention, if the area ofinterest is in an irregular shape, at least three locations within thearea of interest can be selected as AOI feature points to form a featurepoint sequence, and then the at least three AOI feature points are fitto characterize this area of interest.

It is clear that three AOI feature points can determine a plane. Hence,any shape can be roughly characterized using three points. Of course,the more selected AOI feature points, the more accurate characterizationof the area of interest.

According to an embodiment of the present invention, fitting at leastthree AOI feature points comprises directly connecting the at leastthree AOI feature points one after another. It is to be understood thatconnecting feature points is actually a special fitting method.

According to another embodiment of the present invention, fitting atleast three AOI feature points comprises grouping the feature pointsequences and fitting the AOI feature points that are grouped into thesame group.

Various methods may be used for grouping. For example, AOI featurepoints being obtained are grouped on average, or they are grouped bycomparing their longitudinal coordinates or horizontal coordinates. Forexample, if some AOI feature points fluctuate slightly, for example, thedifference in several horizontal coordinates (or longitudinalcoordinates) is within a certain range, then these points can be groupedinto the same group.

According to an embodiment of the present invention, a comparison ismade as to whether an absolute value of a slope difference of linesdetermined by AOI feature points is less than a predetermined threshold.If the absolute value of the slope difference is less than apredetermined threshold, the AOI feature points are grouped into thesame group, otherwise they are grouped into different groups.

FIGS. 15 a and 15 b depict in more detail the process of groupingaccording to an embodiment of the present invention.

As depicted in FIG. 15 a, absolute coordinates of three consecutive AOIfeature points are (x_(i-2), y_(i-2)), (x_(i-1, y) _(i-1)), and (x_(i),y_(i)), in which i is an arbitrary integer. The slopes of linesdetermined by two adjacent points are

$\frac{x_{i} - x_{i - 1}}{y_{i} - y_{i - 1}}\mspace{14mu} {and}\mspace{14mu} {\frac{x_{i - 1} - x_{i - 2}}{y_{i - 1} - y_{i - 2}}.}$

According to the present embodiment, if the absolute value of the slopedifference of lines determined by the three consecutive AOI featurepoints is less than a predetermined threshold, then the three AOIfeature points are grouped into the same group, otherwise they aregrouped into different groups. For example, if inequation (15) is met,then AOI feature points (x_(i-1), y_(i-1)) and (x_(i), y_(i)) aregrouped into the same group.

$\begin{matrix}{{{\frac{x_{i} - x_{i - 1}}{y_{i} - y_{i - 1}} - \frac{x_{i - 1} - x_{i - 2}}{y_{i - 1} - y_{i - 2}}}} < H} & (15)\end{matrix}$

If inequation (16) is met, then AOI feature points (x_(i-1), y_(i-1))and (x_(i), y_(i)) are grouped into different groups:

$\begin{matrix}{{{\frac{x_{i} - x_{i - 1}}{y_{i} - y_{i - 1}} - \frac{x_{i - 1} - x_{i - 2}}{y_{i - 1} - y_{i - 2}}}} \geq H} & (16)\end{matrix}$

in which H is a specific threshold that can be preset.

It should be noted that inequations (15) and (16) describe only oneembodiment of grouping AOI feature points according to the presentinvention, in which the criterion for grouping is to continuouslycompare absolute values of slope differences of lines determined thethree consecutive AOI feature points.

Description will be given below to another embodiment of grouping AOIfeature points according to the present invention. According to theembodiment of the present invention, the slope of a line determined byfirst two AOI feature points is determined. Let coordinates of the firsttwo AOI feature points be (x₁, y₁) and (x₂, y₂), then the determinedline slop S is

$\begin{matrix}{S = \frac{x_{2} - x_{1}}{y_{1} - y_{1}}} & (17)\end{matrix}$

Next, the slope of a line determined by every two following adjacentpoints is compared with the slope S. If the absolute value of thisdifference is less than a specific threshold, then these points and(x_(i), y₁) and (x₂, y₂) are grouped into the same group, as representedby inequation (18):

$\begin{matrix}{{{\frac{x_{i} - x_{i - 1}}{y_{i} - y_{i - 1}} - S}} < H} & (18)\end{matrix}$

in which i represents the index of an AOI feature point.

Otherwise, if inequation (19) is not met, then these points and (x₁, y₁)and (x₂, y₂) are grouped into different groups:

$\begin{matrix}{{{\frac{x_{i} - x_{i - 1}}{y_{i} - y_{i - 1}} - S}} \geq H} & (19)\end{matrix}$

In this way, multiple AOI feature points can be grouped into differentgroups. Moreover, the grouping method according to this embodiment canprevent accumulative error.

FIG. 15 b depicts a schematic view of grouping multiple AOI featurepoints into four groups according to this embodiment, wherein 1, 2, 3,and 4 each represent the number of a group.

Description will be given below to line-fitting of respective AOIfeature points after grouping according to an embodiment of the presentinvention, i.e., the process of one-order fitting.

After the respective AOI feature points are grouped, AOI feature pointsin each group are fit using a line, i.e., one-order line-fitting isperformed on AOI feature points in each group. Let the line fitting theith group is

y=k _(i) x+z _(i)   (20)

in which k_(i) is the line's slope, z_(i) is the line's translation, andk_(i) and z_(i) can be calculated using two points' coordinates. Detailsthereof are omitted.

Vertices of the polygon formed by fitting can be determined as below: ifi=1, then

$\begin{matrix}\left\{ {\begin{matrix}{V_{x,1} = \frac{z_{N} - z_{1}}{k_{1} - k_{N}}} \\{V_{y,1} = \frac{{k_{1}z_{N}} - {k_{N}z_{1}}}{k_{1} - k_{N}}}\end{matrix}{else}} \right. & (21) \\\left\{ \begin{matrix}{V_{x,i} = \frac{z_{i + 1} - z_{i}}{k_{i} - k_{i + 1}}} \\{V_{y,i} = \frac{{k_{i}z_{i + 1}} - {k_{i + 1}z_{i}}}{k_{i} - k_{i + 1}}}\end{matrix} \right. & (22)\end{matrix}$

FIG. 16 depicts an example of an area of interest fit as a quadrangle inthe foregoing embodiment. In this quadrangle, the positioning device cancharacterize the irregularly-shaped AOI simply through coordinates offour points (V_(x,1), V_(y,1)), (V_(x,2), V_(y,2)), (V_(x,3), V_(y,3)),and (V_(x,4), V_(y,4)).

According to another embodiment of the present invention, AOI featurepoints in each group can be fit using high-order curve-fitting method.For example, three-order curve-fitting equation can be expressed as

y=a ₀ −a ₁ x+a ₂ x ² +a ₃ x ³   (23)

Values of coefficients a₀-a₃ can be solved with coordinates of fourpoints. Thus, a feature area can be characterized more accuratelythrough high-order curve-fitting at the expense of recording morefeature points. Of course, the present invention is not limited to thefitting curve represented by equation (23) and can use other fittingcurves. As curve fitting is quite familiar to those skilled in the art,details thereof are omitted.

Of course, the area of interest as depicted in FIG. 15 b can be formedby directly connecting the obtained AOI feature points by a line. Itshould be noted that connecting respective points is actually a specialcase of the fitting process, which has been described above.

According to another embodiment of the present invention, there isprovided a device 600 for characterizing an area of interest in a space,as shown in FIG. 17. Device 600 may comprise: receiving means 610 forreceiving location parameters of AOI feature points capable ofcharacterizing an area of interest, wherein the location parameters areobtained by a positioning device deployed in the space; characterizingmeans 620 for characterizing the area of interest based on the locationparameters. The operating process of characterizing means 620 is thesame as the process of characterizing the area of interest based onlocation parameters of AOI feature points, which has been described withreference to FIGS. 10-16.

According to an embodiment of the present invention, when the area ofinterest is in an irregular shape, receiving means 610 further receiveslocation parameters of at least three AOI feature points on the boundaryof the area of interest, so as to form a feature point sequence;characterizing means 620 further comprises means for fitting the featurepoint sequence to characterize the area of interest. Alternatively, themeans for fitting the feature point sequence may comprise means forgrouping the feature point sequences and means for fitting the AOIfeature points which are grouped into the same group.

According to an embodiment of the present invention, the means forgrouping the feature point sequences comprises: means for comparingwhether an absolute value of a slope difference of lines determined byAOI feature points is less than a predetermined threshold; and means forgrouping these AOI feature points into the same group if the absolutevalue of the slope difference is less than the predetermined threshold.

Likewise, device 600 can be integrated on positioning device 520 or onserver 530.

Devices 200, 400, and 600 according to the embodiments of the presentinvention can be implemented in software, hardware, firmware, circuitry,DSP, and a combination thereof.

According to an embodiment of the present invention, as shown in FIG.18, there is provided a method 700 of calibrating a positioning devicein a space, wherein one or more location points within the space areselected as space feature points. Method 700 may comprise: receiving, ina step S710, relative coordinates of the space feature points inrelation to the positioning device; and determining, in a step S720,location parameters of the positioning device in the space based on therelative coordinates, so as to calibrate the positioning device.

According to a preferred embodiment of the present invention, a tagcapable of emitting ranging signals is placed at the space featurepoints, and the relative coordinates are obtained by the positioningdevice based on the ranging signals from the tag. In this way, automaticmeasurements are achieved.

According to another embodiment of the present invention, as shown inFIG. 19, there is provided a method 800 for calibrating a positioningdevice. The method may comprise: receiving, in a step S810, absolutecoordinates of one or more location points in a space and relativecoordinates of the location points in relation to the positioningdevice; and determining, in a step S820, location parameters of thepositioning device in the space based on the absolute coordinates andthe relative coordinates, so as to calibrate the positioning device.

According to a preferred embodiment of the present invention, thelocation points are located in an overlapped coverage area between thepositioning device and another positioning device that has beencalibrated, a tag capable of emitting ranging signals is placed at thelocation points, the relative coordinates are obtained by thepositioning device based on the ranging signals from the tag, and theabsolute signals are obtained by the another positioning device based onthe ranging signals from the tag.

According to a further embodiment of the present invention, as shown inFIG. 20, there is provided a method 900 for characterizing an area ofinterest in a space. Method 900 may comprise: receiving, in a step 910,location parameters of AOI feature points which can characterize thearea of interest, wherein the location parameters are obtained by apositioning device deployed in the space; and characterizing, in a step920, the area of interest based on the location parameters.

According to an embodiment of the present invention, the locationparameters are absolute coordinates of the AOI feature points in thespace or relative coordinates of the AOI feature points in relation tothe positioning device.

According to an embodiment of the present invention, if the area ofinterest is a circle, the AOI feature points are a center of the circleand an arbitrary point on the circle edge.

According to an embodiment of the present invention, if the area ofinterest is a polygon, the AOI feature points are vertexes of thepolygon.

According to an embodiment of the present invention, if the area ofinterest is an ellipse, the AOI feature points are a center point of theellipse, a cross point of a long axis of the ellipse with a ellipseedge, and a cross point of a short axis of the ellipse with a ellipseedge.

According to another embodiment of the present invention, if the area ofinterest is of an irregular shape, the method comprises: receivinglocation parameters of at least three AOI feature points on a boundaryof the area of interest, the at least three AOI feature pointsconstituting a feature point sequence; and fitting the feature pointsequence to characterize the area of interest.

According to an embodiment of the present invention, the fitting of thefeature point sequence comprises directly connecting the feature points.

According to a preferred embodiment of the present invention, thefitting of the feature point sequence comprises: grouping the featurepoint sequences; and fitting the AOI feature points that are groupedinto the same group.

According to a preferred embodiment of the present invention, thegrouping of the feature point sequences comprises: comparing whether anabsolute value of a slope difference of lines determined by AOI featurepoints is less than a predetermined threshold; and grouping the AOIfeature points into the same group if the absolute value of the slopedifference is less than the predetermined threshold.

According to an embodiment of the present invention, the fittingcomprises a one-order line-fitting algorithm or a high-ordercurve-fitting algorithm.

The methods and devices of the present invention can be implemented insoftware, hardware, or a combination of software and hardware. Thehardware portion can be implemented using dedicated logic; the softwarepotion can be stored in a memory and executed by a proper instructionexecuting system, such as a micro-processor, a personal computer (PC),and a mainframe.

The specification of the present invention has been presented forpurposes of illustration and description, and is not intended to beexhaustive or limited to the invention in the form disclosed. Manymodifications and alterations will be apparent to those of ordinaryskill in the art.

Therefore, the embodiments were chosen and described in order to betterexplain the principles of the invention, the practical application, andto enable others of ordinary skill in the art to understand that allmodifications and alterations made without departing from the spirit ofthe present invention fall into the protection scope of the presentinvention as defined in the appended claims.

1. A system comprising: a tag capable of emitting ranging signals,placed at one or more location points which are selected as spacefeature points in a space; a positioning device in said space,configured to obtain relative coordinates of said space feature pointsin relation to the positioning device based on the ranging signals fromthe tag; and a server, configured to determine location parameters ofsaid positioning device in said space based on said relativecoordinates, so as to calibrate said positioning device.
 2. The systemaccording to claim 1, wherein said location parameters comprise absolutecoordinates and a setting angle of said positioning device in saidspace.
 3. The system according to claim 1, wherein said ranging signalsare at least one of ultrasonic waves, infrared, lasers, RF signals,ultra-broadband pulse signals and sound waves.
 4. A system comprising: atag capable of emitting ranging signals, placed at one ore more locationpoints in a space; a first calibrated positioning device, configured toobtain absolute coordinates of said location points in said space basedon the ranging signals from the tag; a second positioning device,configured to obtain relative coordinates of said location points inrelation to said second positioning device based on the ranging signalsfrom the tag; and a server, configured to determine location parametersof said second positioning device in said space based on said absolutecoordinates and said relative coordinates, so as to calibrate saidsecond positioning device, wherein said location points are located inan overlapped coverage area between said first calibrated positioningdevice and said second positioning device.
 5. The system according toclaim 4, wherein said location parameters comprise absolute coordinatesand a setting angle of said second positioning device in said space. 6.A system comprising: a tag capable of emitting ranging signals, placedat at least two area of interest (AOI) feature points which cancharacterize an area of interest in a space; a positioning device insaid space, configured to obtain location parameters of said AOI featurepoints based on the ranging signals from the tag; and a server,configured to characterize said area of interest based on the locationparameters of said AOI feature points.
 7. The system according to claim6, wherein when said area of interest is of an irregular shape, saidpositioning device is further configured to obtain location parametersof at least three AOI feature points on a boundary of the area ofinterest by means of the tag, so as to constitute a feature pointsequence; said server is further configured to fit said feature pointsequence so as to characterize the area of interest.
 8. The systemaccording to claim 7, wherein said server is further configure to groupsaid feature points sequence and fit said AOI feature points which aregrouped into the same group.
 9. The system according to claim 8, whereinsaid server is further configured to compare whether an absolute valueof a slope difference of lines determined by the AOI feature points isless than a predetermined threshold, and to group said AOI featurepoints into the same group if the absolute value of the slope differenceis less than the predetermined threshold.
 10. A method for calibrating apositioning device in a space, wherein one or more location points inthe space are selected as space feature points, the method comprising:receiving relative coordinates of said space feature points in relationto said positioning device; and determining location parameters of saidpositioning device in said space based on said relative coordinates, soas to calibrate said positioning device.
 11. The method according toclaim 10, wherein, a tag capable of emitting ranging signals is placedat said space feature points, and said relative coordinates are obtainedby said positioning device based on the ranging signals from the tag.12. The method according to claim 10 or 11, wherein said locationparameters comprise absolute coordinates and a setting angle of saidpositioning device in said space.
 13. A method for calibrating apositioning device, comprising: receiving absolute coordinates of one ormore location points in a space and relative coordinates of saidlocation points in relation to said positioning device; and determininglocation parameters of said positioning device in said space based onsaid absolute coordinates and said relative coordinates, so as tocalibrate said positioning device.
 14. The method according to claim 13,wherein, said location points are located in an overlapped coverage areabetween said positioning device and another positioning device that hasbeen calibrated, a tag capable of emitting ranging signals is placed atsaid location points, said relative coordinates are obtained by saidpositioning device based on the ranging signals from the tag, and saidabsolute signals are obtained by said another positioning device basedon the ranging signals from the tag.
 15. The method according to claim13 or 14, wherein said location parameters comprise absolute coordinatesand a setting angle of said positioning device in said space.
 16. Amethod for characterizing an area of interest in a space, comprising:receiving location parameters of at least two area of interest (AOI)feature points which can characterize the area of interest, wherein saidlocation parameters are obtained by a positioning device deployed in thespace; and characterizing said area of interest based on said locationparameters.
 17. The method according to claim 16, wherein said locationparameters are absolute coordinates of said AOI feature points in thespace or relative coordinates of said AOI feature points in relation tothe positioning device.
 18. The method according to claim 16 or 17,wherein when said area of interest is a circle, and said AOI featurepoints are a center of said circle and an arbitrary point on the circleedge.
 19. The method according to claim 16 or 17, wherein when said areaof interest is a polygon, said AOI feature points are vertexes of saidpolygon.
 20. The method according to claim 16 or 17, wherein when saidarea of interest is an ellipse, said AOI feature points are a centerpoint of said ellipse, a cross point of a long axis of said ellipse witha ellipse edge, and a cross point of a short axis of said ellipse with aellipse edge.
 21. The method according to claim 16 or 17, wherein whensaid area of interest is of an irregular shape, the method comprises:receiving location parameters of at least three AOI feature points on aboundary of the area of interest, said at least three AOI feature pointsconstituting a feature point sequence; and fitting said feature pointsequence to characterize the area of interest.
 22. The method accordingto claim 21, wherein the fitting of said feature point sequencecomprises: grouping said feature point sequence; and fitting said AOIfeature points that are grouped into the same group.
 23. The methodaccording to claim 22, wherein the grouping of said feature pointsequence comprises: comparing whether an absolute value of a slopedifference of lines determined by AOI feature points is less than apredetermined threshold; and grouping said AOI feature points into thesame group if the absolute value of said slope difference is less thanthe predetermined threshold.
 24. The method according to claim 21,wherein said fitting comprises a one-order line-fitting algorithm or ahigh-order curve-fitting algorithm.
 25. A device for calibrating apositioning device deployed in a space, wherein one or more locationpoints in the space are selected as space feature points, the devicecomprising: receiving means for receiving relative coordinates of saidspace feature points in relation to said positioning device; anddetermining means for determining location parameters of saidpositioning device in said space based on said relative coordinates, soas to calibrate said positioning device.
 26. The device according toclaim 25, wherein a tag capable of emitting ranging signals is placed atsaid space feature points, and said relative coordinates are obtained bysaid positioning device based on said ranging signals from the tag. 27.A device for calibrating a positioning device, comprising: receivingmeans for receiving absolute coordinates of one ore more location pointsin a space and relative coordinates of said location points in relationto said positioning device; and determining means for determininglocation parameters of said positioning device in said space based onsaid absolute coordinates and said relative coordinates, so as tocalibrate said positioning device.
 28. The device according to claim 27,wherein, said one or more location points are located in an overlappedcoverage area between said positioning device and another positioningdevice that has been calibrated, a tag capable of emitting rangingsignals is placed at said location points, said relative coordinates areobtained by said positioning device based on the ranging signals fromthe tag, and said absolute signals are obtained by said anotherpositioning device based on the ranging signals from the tag.
 29. Adevice for characterizing an area of interest in a space, comprising:receiving means for receiving location parameters of at least two areaof interest (AOI) feature points which can characterize said area ofinterest, wherein said location parameters are obtained by a positioningdevice deployed in a space; and characterizing means for characterizingsaid area of interest based on said location parameters.
 30. The deviceaccording to claim 29, wherein when said area of interest is of anirregular shape, said receiving means further receives locationparameters of at least three AOI feature points on a boundary of thearea of interest to constitute a feature point sequence; saidcharacterizing means further comprises means for fitting said featurepoint sequence to characterize the area of interest.
 31. The deviceaccording to claim 30, wherein the means for fitting said feature pointsequence comprises: means for grouping said feature point sequence; andmeans for fitting said AOI feature points that are grouped into the samegroup.
 32. The device according to claim 31, wherein the means forgrouping said feature point sequence comprises: means for comparingwhether an absolute value of a slope difference of lines determined byAOI feature points is less than a predetermined threshold; and means forgrouping said AOI feature points into the same group if the absolutevalue of said slope difference is less than the predetermined threshold.